12/14磁悬浮开关磁阻电机悬浮系统解耦控制策略  

Decoupling Control of Suspension System for 12/14 Bearingless Switched Reluctance Motor

作　　者：袁野[1] 施天宇 孙玉坤[1] 杜怿[1] 丁世宏[1] 王子羲[2] 杨帆 YUAN Ye;SHI Tianyu;SUN Yukun;DU Yi;DING Shihong;WANG Zixi;YANG Fan(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang 212013,Jiangsu Province,China;State Key Laboratory of Tribology,Tsinghua University,Haidian District,Beijing 100084,China)

机构地区：[1]江苏大学电气信息工程学院,江苏省镇江市212013 [2]清华大学摩擦学国家重点实验室,北京市海淀区100084

出　　处：《中国电机工程学报》2023年第23期9310-9318,共9页Proceedings of the CSEE

基　　金：江苏省重点研发计划(BE2021094);中国博士后科学基金(2021M702413);江苏省优势学科建设工程(PAPD-2018-87)。

摘　　要：12/14磁悬浮开关磁阻电机悬浮力位移刚度系数和电流刚度系数受转子位置动态耦合,具有非线性时变特征,严重影响悬浮系统运行鲁棒性。针对上述问题,该文提出基于耦合悬浮力调节器的悬浮系统控制策略。首先,基于有限元分析和麦克斯韦应力法,揭示悬浮力非线性时变规律,并建立完善的数学模型;进一步将该模型表征为位置解耦悬浮力模型和非线性时变耦合分量。其中,位置解耦悬浮力模型一方面作为悬浮系统的直接反馈模型,另一方面用于设计耦合悬浮力观测器,实时在线获取非线性时变耦合分量。所获取的耦合分量作为外部干扰前馈补偿至悬浮控制系统。最后,针对基于耦合悬浮力调节器以及控制系统的有效性开展仿真分析与实验验证,结果表明,所提控制方法可以有效地解决转子位置对悬浮系统的动态耦合,提升系统鲁棒性。The suspension force displacement stiffness coefficient and current stiffness coefficient of the 12/14 bearingless switched reluctance motor are dynamically coupled by the rotor position,and have nonlinear time-varying characteristics,which seriously affect the operational robustness of the suspension system.Aiming at the above problem,this paper proposes a suspension control system with a coupled suspension force regulator(CSFR).Firstly,the nonlinear time-varying law and mathematical model of suspension force are revealed and established.The nonlinear time-varying model is further decomposed into position decoupling suspension force model and nonlinear time-varying coupling components.Among them,the position decoupling suspension force model(PDSFM)is used as the direct feedback model of the suspension system,and the coupled suspension force observer(CFO)is designed based on the PDSFM,which can observe the nonlinear time-varying coupled component and feed it forward to the suspension control system as an external disturbance.Finally,simulation analysis and experimental verification of the effectiveness of the coupled suspension force regulator and the control system are carried out.The results show that the proposed control method can effectively solve the dynamic coupling of the rotor position to the suspension system and improve the operational robustness.

关 键 词：磁悬浮开关磁阻电机 耦合悬浮力 观测器 解耦控制 

分 类 号：TM352[电气工程—电机]